From 807df8fbc2b118602000df61fa5458d1ed3db792 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 2 Feb 2015 10:59:00 +0100
Subject: [PATCH] Fx bug: reimplement
GraphPathValidation::removeObstacleFromJoint.
---
include/hpp/manipulation/graph-path-validation.hh | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index b834d1e..8e286ec 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -99,6 +99,19 @@ namespace hpp {
void addObstacle (const hpp::core::CollisionObjectPtr_t&);
+ /// Remove a collision pair between a joint and an obstacle
+ /// \param joint the joint that holds the inner objects,
+ /// \param obstacle the obstacle to remove.
+ /// \notice collision configuration validation needs to know about
+ /// obstacles. This virtual method does nothing for configuration
+ /// validation methods that do not care about obstacles.
+ virtual void removeObstacleFromJoint (const JointPtr_t& joint,
+ const model::CollisionObjectPtr_t& obstacle)
+ {
+ assert (pathValidation_);
+ pathValidation_->removeObstacleFromJoint (joint, obstacle);
+ }
+
protected:
/// Constructor
GraphPathValidation (const PathValidationPtr_t& pathValidation);
--
GitLab